diff --git a/src/main/java/frc4388/robot/commands/DrivePositionMPAux.java b/src/main/java/frc4388/robot/commands/DrivePositionMPAux.java
index 364846a..6883468 100644
--- a/src/main/java/frc4388/robot/commands/DrivePositionMPAux.java
+++ b/src/main/java/frc4388/robot/commands/DrivePositionMPAux.java
@@ -36,10 +36,10 @@ public class DrivePositionMPAux extends CommandBase {
   public DrivePositionMPAux(Drive subsystem, double cruiseVel, double rampDist, float rampRate, double targetPos, double targetGyro) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
-    m_cruiseVel = cruiseVel * DriveConstants.TICKS_PER_INCH / 10;
-    m_rampDist = rampDist * DriveConstants.TICKS_PER_INCH;
+    m_cruiseVel = cruiseVel * DriveConstants.TICKS_PER_INCH_LOW / 10;
+    m_rampDist = rampDist * DriveConstants.TICKS_PER_INCH_LOW;
     m_rampRate = (long) rampRate * 1000;
-    m_targetPos = targetPos * DriveConstants.TICKS_PER_INCH;
+    m_targetPos = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
     //m_targetGyro = targetGyro * DriveConstants.TICKS_PER_GYRO_REV / 360;
     m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
     addRequirements(m_drive);
@@ -82,7 +82,7 @@ public class DrivePositionMPAux extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (m_currentPos - m_targetPos <= 0.5f * DriveConstants.TICKS_PER_INCH) {
+    if (m_currentPos - m_targetPos <= 0.5f * DriveConstants.TICKS_PER_INCH_LOW) {
       return true;
     }
     return false;
diff --git a/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java b/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
index 5eba4a1..c56a36b 100644
--- a/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
+++ b/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
@@ -28,7 +28,7 @@ public class DriveStraightToPositionMM extends CommandBase {
   public DriveStraightToPositionMM(Drive subsystem, double targetPos) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
-    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
+    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
     addRequirements(m_drive);
     //SmartDashboard.putNumber("Distance Target Inches", targetPos);
   }
diff --git a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
index 3b73c1b..949a4bf 100644
--- a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+++ b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
@@ -27,7 +27,7 @@ public class DriveStraightToPositionPID extends CommandBase {
   public DriveStraightToPositionPID(Drive subsystem, double targetPos) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
-    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
+    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
     addRequirements(m_drive);
     //SmartDashboard.putNumber("Distance Target Inches", targetPos);
   }